InsperX
-
Dependencies: X_NUCLEO_IHM01A1 mbed
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joy_buttons_versao_2
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InsperX
Diff: main.cpp
- Revision:
- 38:6e846a303dec
- Parent:
- 37:70d96b1ecb98
--- a/main.cpp Mon Mar 13 17:46:46 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,366 +0,0 @@
-/**
- ******************************************************************************
- * @file main.cpp
- * @author Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date October 14th, 2015
- * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
- * Motor Control Expansion Board: control of 1 motor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* mbed specific header files. */
-#include "mbed.h"
-
-/* Helper header files. */
-#include "DevSPI.h"
-
-/* Component specific header files. */
-#include "L6474.h"
-
-
-/* Definitions ---------------------------------------------------------------*/
-
-/* Number of steps. */
-#define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
-
-/* Delay in milliseconds. */
-#define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 6000
-#define DELAY_4 8000
-
-/* Speed in pps (Pulses Per Second).
- In Full Step mode: 1 pps = 1 step/s).
- In 1/N Step Mode: N pps = 1 step/s). */
-#define SPEED_1 2400
-#define SPEED_2 1200
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Initialization parameters. */
-L6474_init_t init = {
- 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
- 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
- 1600, /* Maximum speed in pps. Range: (30..10000]. */
- 800, /* Minimum speed in pps. Range: [30..10000). */
- 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
- L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
- L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
- L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
- L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */
- L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
- L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
- L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
- 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
- 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
- L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
- L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
- L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
- L6474_ALARM_EN_OVERCURRENT |
- L6474_ALARM_EN_THERMAL_SHUTDOWN |
- L6474_ALARM_EN_THERMAL_WARNING |
- L6474_ALARM_EN_UNDERVOLTAGE |
- L6474_ALARM_EN_SW_TURN_ON |
- L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
-};
-
-/* Motor Control Component. */
-L6474 *motor;
-
-
-/* Functions -----------------------------------------------------------------*/
-
-/**
- * @brief This is an example of user handler for the flag interrupt.
- * @param None
- * @retval None
- * @note If needed, implement it, and then attach and enable it:
- * + motor->attach_flag_irq(&flag_irq_handler);
- * + motor->enable_flag_irq();
- * To disable it:
- * + motor->disble_flag_irq();
- */
-void flag_irq_handler(void)
-{
- /* Set ISR flag. */
- motor->isr_flag = TRUE;
-
- /* Get the value of the status register. */
- unsigned int status = motor->get_status();
-
- /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
- /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
- if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
- printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
- }
-
- /* Reset ISR flag. */
- motor->isr_flag = FALSE;
-}
-
-
-/* Main ----------------------------------------------------------------------*/
-
-int main()
-{
- /*----- Initialization. -----*/
-
- /* Initializing SPI bus. */
- DevSPI dev_spi(D11, D12, D13);
-
- /* Initializing Motor Control Component. */
- motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
- if (motor->init(&init) != COMPONENT_OK) {
- exit(EXIT_FAILURE);
- }
-
- /* Attaching and enabling interrupt handlers. */
- motor->attach_flag_irq(&flag_irq_handler);
- motor->enable_flag_irq();
-
- /* Printing to the console. */
- printf("Motor Control Application Example for 1 Motor\r\n\n");
-
-
- /*----- Moving. -----*/
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving N steps in the forward direction. */
- motor->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Getting current position. */
- int position = motor->get_position();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
-
- /*----- Changing the motor setting. -----*/
-
- /* Printing to the console. */
- printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
- /* Increasing the torque regulation current to 500[mA]. */
- motor->set_parameter(L6474_TVAL, 500);
-
- /* Printing to the console. */
- printf("--> Doubling the microsteps.\r\n");
-
- /* Doubling the microsteps. */
- if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
- printf(" Step Mode not allowed.\r\n");
- }
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Setting Home.\r\n");
-
- /* Setting the current position to be the home position. */
- motor->set_home();
-
- /* Getting current position. */
- position = motor->get_position();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Moving. -----*/
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_1);
-
- /* Moving N steps in the backward direction. */
- motor->move(StepperMotor::BWD, STEPS_1);
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Getting current position. */
- position = motor->get_position();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
-
- /*----- Going to a specified position. -----*/
-
- /* Printing to the console. */
- printf("--> Going to position %d.\r\n", STEPS_1);
-
- /* Requesting to go to a specified position. */
- motor->go_to(STEPS_1);
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Getting current position. */
- position = motor->get_position();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Going Home. -----*/
-
- /* Printing to the console. */
- printf("--> Going Home.\r\n");
-
- /* Requesting to go to home. */
- motor->go_home();
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Getting current position. */
- position = motor->get_position();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Running. -----*/
-
- /* Printing to the console. */
- printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Requesting to run backward. */
- motor->run(StepperMotor::BWD);
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
- /* Getting current speed. */
- int speed = motor->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
- /*----- Increasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Increasing the speed. */
- motor->set_max_speed(SPEED_1);
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
- /* Getting current speed. */
- speed = motor->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
-
- /*----- Decreasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
-
- /* Decreasing the speed. */
- motor->set_max_speed(SPEED_2);
-
- /* Waiting. */
- wait_ms(DELAY_4);
-
- /* Getting current speed. */
- speed = motor->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
-
- /*----- Hard Stop. -----*/
-
- /* Printing to the console. */
- printf("--> Hard Stop.\r\n");
-
- /* Requesting to immediatly stop. */
- motor->hard_stop();
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Infinite Loop. -----*/
-
- /* Printing to the console. */
- printf("--> Infinite Loop...\r\n");
-
- /* Setting the current position to be the home position. */
- motor->set_home();
-
- /* Infinite Loop. */
- while (true) {
- /* Requesting to go to a specified position. */
- motor->go_to(STEPS_1 >> 1);
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
-
- /* Requesting to go to a specified position. */
- motor->go_to(- (STEPS_1 >> 1));
-
- /* Waiting while the motor is active. */
- motor->wait_while_active();
- }
-}